function plotCube(corner, side, theta)
%PLOTCUBE Summary of this function goes here
%   Detailed explanation goes here
    corner = reshape(corner, 3, 1);
    side = reshape(side, 3, 1);
    X = zeros(3, 4, 3);
    X(:,:,1) = [0 1 1 0;
        0 0 1 1;
        0 0 0 0];
    X(:,:,2) = [0 0 0 0;
        0 1 1 0;
        0 0 1 1];
    X(:,:,3) = [0 1 1 0;
        0 0 0 0;
        0 0 1 1];
    Tr = Euler2Frame([theta theta theta]);
    for k=1:3
        X(:,:,k) = Tr * (X(:,:,k) .* side) + corner;
    end
    X = permute(X, [2, 3, 1]);
    fill3(X(:,:,1), X(:,:,2), X(:,:,3), ...
        [0.5 0.5 0.5], ...
        'FaceAlpha', 0.5);
end

